Raspberry Pi

Raspberry Pi

Connection Type
Audio Support
Camera Support

Raspberry Pi is a small and affordable computer that you can use to control a robot by running either EZ-Builder or the EZBPi Server... or both! Below is a break-down of both options with links on how to get them running for your Synthiam powered robot.

Run EZ-Builder on the Pi

You can run EZ-Builder on the Raspberry Pi and connect to external micro controllers, such as Arduino or EZ-Robot's EZ-B v4. This is a connection through WiFi, generally. Although USB adapters can be used for direct connection on supporting micro-controller products.

You can download the Raspberry Pi installation on the software page by clicking here.

Turn Pi into an EZBPi Server

This server program turns a Raspberry Pi into an EZ-B that robot components can connect to and EZ-Builder connects to the server. The Raspberry Pi Camera, Digital Ports and UART are just some of the peripherals of the Raspberry Pi that can be controlled by EZ-Builder with this server. The server turns the Raspberry Pi into an EZ-B. If you are running EZ-Builder on the Pi at the same time, connect to the EZBPi server with address

If the EZBPi server is used, the EZ-Builder connection can be remote from an external computer over WiFi (or LAN). Or the EZ-Builder connection can be running on the Raspberry Pi by connecting to (localhost). There are limitations to the EZBPi Server, in that PWM servos are not supported, but Bi-Directional UART/Serial servos are (Robotis Dynamixel, LewanSoul, etc.)

EZBPi Server Install Instructions

1) Install Mono

sudo apt install mono-devel

2) Download the EZBPi Server ZIP file from the firmware list above

3) Unzip the archive.

unzip EZBPi.zip

4) Navigate into the newly created directory

cd EZBPi

5) Execute the server with sudo and mono. Sudo is required because the server listens on TCP ports and therefore needs to permission.

sudo mono ./EZBPi.exe

6) Connect to the EZBPi server from EZ-Builder. If the EZ-Builder instance is on a different computer, enter the IP Address of the Pi in the connection control. If the EZ-Builder instance is running on the Pi, enter the address in the connection control.


The Raspberry Pi has a hardware UART that is connected to GPIO14 (TX) and GPIO15(RX). These are physical pins 8 and 10, respectively. Any EZ-Builder controls that use the UART (such as Dynamixel) or Script commands will default to using this port.

In order to get the UART to work, a few configurations need to be made on the Raspberry Pi.

  1. From command-line, type: sudo raspi-config
  2. Select the Interfaces menu option
  3. Select the Serial menu option
  4. Answer NO to the question about login shell
  5. Answer YES to the question about serial hardware port
  6. Save and exit the raspi-config menu
  7. Reboot

EZBPi Server Command-Line Arguments

The EZBPi server accepts command-line arguments for configuration values. With these command-line arguments, the default TCP ports for the EZB and Camera can be changed. Also, the verbose logging can be changed. To view the list of available arguments, enter...

sudo mono EZBPi.exe -h

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Oh ty ty ty so much!
I’ll get amin to update next week. Thanks guys!!
United Kingdom
I'm having the same problem as above on my RasPi3B when trying to run EZBPi.exe. I've followed all the above checks and the code update but I'm still getting the same response:

pi@raspberrypi:~ $ sudo mono /home/pi/EZBPi/EZBPi.exe
Raspberry EZBPi Version: 2019.3.29.0
Verbose logging is: False
Serial port is: /dev/serial0
EZB: TCP Started on port 23
EZ-B Server started on TCP Port: 23
Camera: TCP Started on port 24
Camera Server started on TCP Port: 24
Press ESC to quit
Broadcast error. The broadcast service has stopped. Here is why: System.Net.Sockets.SocketException (0x80004005): Access denied
at System.Net.Sockets.UdpClient.Connect (System.String hostname, System.Int32 port) [0x001b0] in :0
at System.Net.Sockets.UdpClient..ctor (System.String hostname, System.Int32 port) [0x00044] in :0
at EZBPi.Broadcaster.doSendUDP (System.String str) [0x00001] in <0d7091e22ba140df8312a9ba44fa579a>:0
at EZBPi.Broadcaster._timer_Elapsed (System.Object sender, System.Timers.ElapsedEventArgs e) [0x00050] in <0d7091e22ba140df8312a9ba44fa579a>:0

I also have a Pi ZeroW and a Pi 2B on the network and get the same response. Pi Zero and 3 both running Buster, Pi 2 running Stretch.

I've also tried all the other usual fixes, like disabling firewall etc.

I'm getting a similar response when trying to connect EZ-Builder 2019.05.08.00 from my PC (Win10) to the Pi:

Attempting connection on
Connection Failed: System.Net.Sockets.SocketException (0x80004005): No connection could be made because the target machine actively refused it
at System.Net.Sockets.Socket.InternalEndConnect(IAsyncResult asyncResult)
at System.Net.Sockets.Socket.EndConnect(IAsyncResult asyncResult)
at System.Net.Sockets.TcpClient.EndConnect(IAsyncResult asyncResult)
at EZ_B.EZB.Connect(String hostname, Int32 baudRate)

I don't have anything else running that might be causing any conflict and I can connect to all my Pi's remotely from my phone using RasPi Check and RaspController.

Did you use the exe fix PTP gave?
United Kingdom
Hi Guys,

Yes, I tried the EZBPi_fixed.zip before I wrote to you last night but it didn't work.

I've just unzipped and executed the new server from the link that DJ sent above and it works! The server's now running and I'm connected to the Pi3B from my PC:
EZ-B temperature is 45.28100456947043676C
I was planning a night off from the PC and Pi tonight, but that plan's just gone out the window.

Thanks for your quick response and the fix. Very much appreciated:D